Global Fixed-Time Sliding Mode Trajectory Tracking Control Design for the Saturated Uncertain Rigid Manipulator

The global fixed-time sliding mode control strategy is designed for the manipulator to achieve global fixed-time trajectory tracking in response to the uncertainty of the system model, the external disturbances, and the saturation of the manipulator actuator. First, aiming at the lumped disturbance...

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Bibliographic Details

Published in:	Axioms
Main Authors:	Jun Nie, Lichao Hao, Xiao Lu, Haixia Wang, Chunyang Sheng
Format:	Article
Language:	English
Published:	MDPI AG 2023-09-01
Subjects:	manipulator trajectory tracking fixed-time sliding mode control saturation compensator adaptive fixed-time disturbance observer
Online Access:	https://www.mdpi.com/2075-1680/12/9/883